CN103926877A - Multi-shaft linkage numerical control system and machining method thereof - Google Patents

Multi-shaft linkage numerical control system and machining method thereof Download PDF

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Publication number
CN103926877A
CN103926877A CN201410141648.0A CN201410141648A CN103926877A CN 103926877 A CN103926877 A CN 103926877A CN 201410141648 A CN201410141648 A CN 201410141648A CN 103926877 A CN103926877 A CN 103926877A
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China
Prior art keywords
curve
control system
numerical control
lathe
linkage numerical
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CN201410141648.0A
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CN103926877B (en
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叶成源
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JIANGMEN XINHUI SUNFLOWER TECHNOLOGY Co Ltd
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JIANGMEN XINHUI SUNFLOWER TECHNOLOGY Co Ltd
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Priority to PCT/CN2015/070488 priority patent/WO2015154554A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a multi-shaft linkage numerical control system and a machining method of the multi-shaft linkage numerical control system. The multi-shaft linkage numerical control system comprises a multi-shaft controller, a plurality of motor drivers, a plurality of motors matched with the motor drivers, and a machine tool, wherein the multiple motors are arranged in different directions of the machine tool, and moving shafts of the machine tool are connected and controlled; the multiple motor drivers are electrically connected with the multi-shaft controller through a data bus, the multiple motor drivers are correspondingly connected with the multiple motors one to one electrically, and the motor drivers are controlled by the multi-shaft controller to drive the motors so that the motors can driven the machine tool to operate. The spatial decomposition mode is adopted, data of multiple shafts are independent of one another, and linkage of more shafts can be achieved; the multi-shaft controller and the motor drivers are separated from each other for independent operation, parallel operation is achieved, speed is higher, and response speed is higher; a final speed curve is generated in each motor driver, real-time speed control is adopted, and higher smoothness is achieved; interpolation of a complex curve can be achieved efficienctly.

Description

A kind of multi-axis linkage numerical control system and job operation thereof
Technical field
The digital control system that the present invention relates to a kind of machine-building lathe, relates in particular to a kind of multi-axis linkage numerical control system and job operation thereof.
Background technology
Numeric Control Technology alignment target a national modernization of industry level.Along with chip development, promoting the development of automatic technology, especially numerically controlled automatic aspect, in the epoch of artificial shortage today, employment cost constantly rises, and traditional labor-intensive industry must be upgraded, otherwise can be eliminated.In modern manufacturing system, Numeric Control Technology is crucial, is that manufacturing industry realizes robotization, networking, flexibility and integrated basis.
Multi-axis linkage numerical control system is the controller of machine tool, is responsible for controller bed operating, is the soul of whole lathe, each signal of lathe, and each action is to be sent by digital control system; Current digital control system major part is point-to-point comparison method, is widely used in a kind of interpolating method on lathe, and it can realize the interpolation of straight line, circular arc and non-round quafric curve, and interpolation precision is higher.
Point-to-point comparison method as its name suggests, is exactly often to make a move all the instantaneous coordinate of processing stand to be compared with the graphics track of regulation, judge its deviation, then determine next step trend, if processing stand is gone to figure, outside has been gone, and next step will be walked to figure the inside so; If processing stand is in figure the inside, next step will be walked to figure outside so, to dwindle deviation.So just can draw a track that approaches very much compulsory figure, maximum deviation is no more than a pulse equivalency; In point-to-point comparison method, every feeding one step all need be carried out bias judge, coordinate feeding, new deviation calculates and terminal compares four beats.
There is following shortcoming in these current digital control systems: 1, each interpolation operation, only have a coordinate axis output, and in high-speed, high precision occasion, operand is larger; 2, be not easy to realize interlock interpolation more than diaxon, or realize interlocks more than three axles, operand is very large; 3,, due to rapport complexity between each axle, in the time of acceleration and deceleration motion, can cause synthesising position to have deviation; 4, dynamic high-performance acceleration and deceleration algorithm is difficult to realize.
Summary of the invention
For solving existing problem in above-mentioned prior art, the invention provides a kind of multi-axis linkage numerical control system and job operation thereof.
The present invention adopts following technical scheme to realize: a kind of multi-axis linkage numerical control system, comprise that multi-axis controller, multiple motor driver, multiple and described motor driver coordinate to obtain motor and lathe, multiple described motors are arranged on the different directions of described lathe, connect and control different machine tool motion axles; Multiple described motor drivers are electrically connected with described multi-axis controller by data bus, multiple motor drivers are electrically connected correspondingly with multiple described motors, drive described motor to drive described lathe operation by motor driver described in described multi-axis controller control.
Preferably, in described motor driver, be provided with the curvilinear function generator for formation curve data.
The present invention also provides a kind of job operation of multi-axis linkage numerical control system, comprises the following steps:
A) carry out manuscript by graphical interfaces, or import outside CAD figure;
B) to described manuscript or CAD figure march line analysis, extract the feature in described manuscript or CAD figure;
C) add lathe data, carry out comprehensive computing with the feature of extracting in step b, obtain last resultant curve;
D) described last resultant curve is carried out to multiaxis decomposition, obtain the independent coordinate data of each kinematic axis;
E) described independent coordinate data is sent to respectively on the motor driver of each axle, and send synchronizing clock signals;
F) described motor driver is according to the independent coordinate data receiving and the synchronizing clock signals formation curve data of extracting;
G) described curve data is converted into accurate rate curve and acceleration parameter;
H) using the described accurate rate curve generating to carry out motor speed controls in real time;
I) the final Processing Curve in the movement locus of multiple motor shafts composition lathe space, completes processing.
Preferably, described in described b step, feature comprises straight line, circular arc, ellipse, para-curve, hyperbolic curve, involute urve and SPL.
Preferably, described lathe data comprise lathe zero point, screw axis transmission ratios and tool radius.
Further, the function expression of described last resultant curve is as follows:
e(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadius
In formula: e (t) is last resultant curve;
F (t) is aim curve;
C (t) is cutter compensation function;
AxialScale is screw axis transmission ratios;
ZeroOffset is lathe zero point;
CutterRadius is tool radius.
Compared with prior art, the present invention has following beneficial effect: the present invention adopts the mode of spatial decomposition, independent the data of several axles, can reach the more interlock of multiaxis; Multi-axis controller separates operation independent with motor driver, realizes concurrent operation, higher than the series connection arithmetic speed of center control, reacts faster; The inner function curve data that produce of motor driver, more accurate than pulse mode; The final rate curve of the inner generation of motor driver, adopts real-time speed control, and the synthetic track of multiaxis has higher smoothness than pulse mode; Can efficiently realize the interpolation of complex curve, as ellipse, para-curve, involute urve, SPL etc.
Brief description of the drawings
Fig. 1 is functional-block diagram of the present invention.
Embodiment
Below in conjunction with specific embodiments and the drawings, a kind of multi-axis linkage numerical control system of the present invention and job operation thereof are described in further detail.
A kind of multi-axis linkage numerical control system that the present invention proposes, comprise that multi-axis controller, multiple motor driver, multiple and described motor driver coordinate to obtain motor and lathe, multiple described motors are arranged on the different directions of described lathe, connect and control different machine tool motion axles; Multiple described motor drivers are electrically connected with described multi-axis controller by data bus, and multiple motor drivers are electrically connected correspondingly with multiple described motors, are provided with the curvilinear function generator for formation curve data in described motor driver; Drive described motor to drive described lathe operation by motor driver described in described multi-axis controller control.
The present invention also provides a kind of job operation of multi-axis linkage numerical control system, comprises the following steps:
A) carry out manuscript by graphical interfaces, or import outside CAD figure, complete the importing of machining information;
B) to described manuscript or CAD figure march line analysis, extract the feature in described manuscript or CAD figure, as straight line, circular arc, ellipse, para-curve, hyperbolic curve, involute urve and SPL etc.;
C) add lathe data, carry out comprehensive computing with the feature of extracting in step b, obtain last resultant curve; Described lathe data comprise the data such as lathe zero point, screw axis transmission ratios and tool radius, and the function expression of described last resultant curve is as follows:
e(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadius
In formula: e (t) is last resultant curve;
F (t) is aim curve;
C (t) is cutter compensation function, relevant with the tangential angle that tool radius and aim curve are ordered at t;
AxialScale is screw axis transmission ratios;
ZeroOffset is lathe zero point;
CutterRadius is tool radius;
D) described last resultant curve is carried out to multiaxis decomposition, obtain the independent coordinate data of each kinematic axis; As three axle circular arcs decompose, X 2+ Y 2+ Z 2=R 2, resolve into X=R*cos (t) * cos (T), Y=R*cos (t) * sin (T), Z=R*sin (t);
E) the described independent coordinate data after decomposing is sent to respectively on the motor driver of each axle, and send synchronizing clock signals;
F) described motor driver is according to the independent coordinate data receiving and the synchronizing clock signals formation curve data of extracting;
G) described curve data is converted into accurate rate curve and acceleration parameter;
H) using the described accurate rate curve generating to carry out motor speed controls in real time;
I) the final Processing Curve in the movement locus of multiple motor shafts composition lathe space, completes processing.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (6)

1. a multi-axis linkage numerical control system, it is characterized in that: comprise that multi-axis controller, multiple motor driver, multiple and described motor driver coordinate to obtain motor and lathe, multiple described motors are arranged on the different directions of described lathe, connect and control different machine tool motion axles; Multiple described motor drivers are electrically connected with described multi-axis controller by data bus, multiple motor drivers are electrically connected correspondingly with multiple described motors, drive described motor to drive described lathe operation by motor driver described in described multi-axis controller control.
2. multi-axis linkage numerical control system according to claim 1, is characterized in that: in described motor driver, be provided with the curvilinear function generator for formation curve data.
3. a job operation for multi-axis linkage numerical control system, is characterized in that, comprises the following steps:
A) carry out manuscript by graphical interfaces, or import outside CAD figure;
B) to described manuscript or CAD figure march line analysis, extract the feature in described manuscript or CAD figure;
C) add lathe data, carry out comprehensive computing with the feature of extracting in step b, obtain last resultant curve;
D) described last resultant curve is carried out to multiaxis decomposition, obtain the independent coordinate data of each kinematic axis;
E) described independent coordinate data is sent to respectively on the motor driver of each axle, and send synchronizing clock signals;
F) described motor driver is according to the independent coordinate data receiving and the synchronizing clock signals formation curve data of extracting;
G) described curve data is converted into accurate rate curve and acceleration parameter;
H) using the described accurate rate curve generating to carry out motor speed controls in real time;
I) the final Processing Curve in the movement locus of multiple motor shafts composition lathe space, completes processing.
4. the job operation of multi-axis linkage numerical control system according to claim 3, is characterized in that: described in described b step, feature comprises straight line, circular arc, ellipse, para-curve, hyperbolic curve, involute urve and SPL.
5. the job operation of multi-axis linkage numerical control system according to claim 3, is characterized in that: described lathe data comprise lathe zero point, screw axis transmission ratios and tool radius.
6. the job operation of multi-axis linkage numerical control system according to claim 5, is characterized in that: the function expression of described last resultant curve is as follows:
e(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadius
In formula: e (t) is last resultant curve;
F (t) is aim curve;
C (t) is cutter compensation function;
AxialScale is screw axis transmission ratios;
ZeroOffset is lathe zero point;
CutterRadius is tool radius.
CN201410141648.0A 2014-04-08 2014-04-08 A kind of multi-axis linkage numerical control system and its processing method Active CN103926877B (en)

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PCT/CN2015/070488 WO2015154554A1 (en) 2014-04-08 2015-01-10 Multi-spindle linkage numerical control system and processing method thereof

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104439889A (en) * 2014-12-09 2015-03-25 贵州红林机械有限公司 Method of sinusoidal curve knurling by four-axis linkage
WO2015154554A1 (en) * 2014-04-08 2015-10-15 江门市新会区向日葵科技有限公司 Multi-spindle linkage numerical control system and processing method thereof
CN112783097A (en) * 2019-11-08 2021-05-11 兄弟工业株式会社 Numerical controller and control method for numerical controller

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CN1155111A (en) * 1996-01-15 1997-07-23 南京航空航天大学 Economical multi-axis numerical control system and inter-linked controlling method thereof
JPH11235645A (en) * 1998-02-19 1999-08-31 Honda Motor Co Ltd Driving device of multi-axes motor in nc machine tool
CN102929191A (en) * 2012-10-18 2013-02-13 中达光电工业（吴江）有限公司 Method and device for controlling multiple drivers to work synchronously
CN103529751A (en) * 2013-10-29 2014-01-22 广东省自动化研究所 Five-axis linkage machine tool numerical control system and processing method thereof

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CN101382795B (en) * 2008-09-28 2012-01-25 广东工业大学 Multi-shaft motion control system for water-fire heating plate bending machine
CN102073302A (en) * 2009-11-25 2011-05-25 北京诺信泰伺服科技有限公司 Full digitalized distributed intelligent servo driver
CN202985265U (en) * 2012-11-19 2013-06-12 西北机器有限公司 Numerical system for numerical control screw tap grinding machine
CN103926877B (en) * 2014-04-08 2018-02-09 江门市新会区向日葵科技有限公司 A kind of multi-axis linkage numerical control system and its processing method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1155111A (en) * 1996-01-15 1997-07-23 南京航空航天大学 Economical multi-axis numerical control system and inter-linked controlling method thereof
JPH11235645A (en) * 1998-02-19 1999-08-31 Honda Motor Co Ltd Driving device of multi-axes motor in nc machine tool
CN102929191A (en) * 2012-10-18 2013-02-13 中达光电工业（吴江）有限公司 Method and device for controlling multiple drivers to work synchronously
CN103529751A (en) * 2013-10-29 2014-01-22 广东省自动化研究所 Five-axis linkage machine tool numerical control system and processing method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015154554A1 (en) * 2014-04-08 2015-10-15 江门市新会区向日葵科技有限公司 Multi-spindle linkage numerical control system and processing method thereof
CN104439889A (en) * 2014-12-09 2015-03-25 贵州红林机械有限公司 Method of sinusoidal curve knurling by four-axis linkage
CN112783097A (en) * 2019-11-08 2021-05-11 兄弟工业株式会社 Numerical controller and control method for numerical controller
CN112783097B (en) * 2019-11-08 2024-07-26 兄弟工业株式会社 Numerical controller and control method for numerical controller

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